Derivative Instruments, Hedging Activities and Fair Value - Fair Value of Outstanding Derivative Contracts (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Derivative contracts
Asset derivatives	$ 7,497	$ 3,677
Liability derivatives	9,732	12,725
Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	7,497	3,677
Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	2,930	5,048
Interest rate swaps | Other current liabilities
Derivative contracts
Liability derivatives	3,651	3,959
Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	3,151	3,718
Fair Value of Derivatives Designated as Hedging Instruments
Derivative contracts
Asset derivatives	502	900
Liability derivatives	7,588	8,627
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	502	900
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	786	950
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current liabilities
Derivative contracts
Liability derivatives	3,651	3,959
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	3,151	3,718
Fair Value of Derivatives Not Designated as Hedging Instruments
Derivative contracts
Asset derivatives	6,995	2,777
Liability derivatives	2,144	4,098
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	6,995	2,777
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	2,144	4,098
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other current liabilities
Derivative contracts
Liability derivatives	0	0
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	$ 0	$ 0